From f2b6b862650ab4682970a9743f0aa83297dfc559 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Wed, 15 Feb 2012 10:53:54 -0800
Subject: [PATCH] allow auto-land if failsafe is triggered

---
 ArduCopter/ArduCopter.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 49933c7868..2f6a396fb2 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1684,7 +1684,7 @@ static void update_navigation()
 			if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
 				// if auto_land_timer value > 0, we are set to trigger auto_land after 20 seconds
 				set_mode(LOITER);
-				if(g.rtl_land_enabled)
+				if(g.rtl_land_enabled || failsafe)
 					auto_land_timer = millis();
 				else
 					auto_land_timer = 0;